CN102932598A - Method for intelligently tracking image on screen by camera - Google Patents
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Abstract
The invention provides a method for intelligently tracking an image on a screen by a camera. The method is characterized by comprising the steps of a. collecting directions of all macro block motion vectors of a plurality of macro blocks in the image; b. determining a moving object in the image according to directions of motion vectors and calculating the pixel size of the moving object, wherein the moving object comprises the plurality of macro blocks; c. calculating central coordinates of the moving object with a center of the image serving as an original point; d. calculating a magnification factor by which the moving object is to be magnified and change angles of the center of a viewing angle of a movement of the camera according to the pixel size of the moving object and central coordinates; and e. magnifying the moving object according to the magnification factor, and displaying the moving object at the center of the image according to change angles.
Description
Technical field
Relate to multimedia video monitoring field, relate in particular to the method for video front collecting device intelligent-tracking.
Background technology
In safety monitoring, generally all be that the special messenger stares at monitor and monitors, but studies show that operating personnel stare at video wall and will miss 90% video information above 10 minutes and make this work lose meaning, so that supervisory control system is traced the foundation of event after succeeding, it is consuming time huge to obtain simultaneously effective information from magnanimity information.And most of monitoring reality is only interested in suspicious people or thing and movement locus thereof, therefore demands intelligent tracking system urgently, and suspicious object is carried out intelligent-tracking, namely improves monitoring efficiency, can be used as again after the case the event trace recovering and analysis, accomplishes the effect of solving a case fast.
At present the product form of intelligent analysis system has two kinds, and the one, the intelligent algorithm of the huge amount of calculation of needs that realizes by DSP, the 2nd, adopt the rear end PC server that intellectual analysis software is installed.But rear end PC server mode need to increase extras and applied environment is harsh, and simultaneously, a lot of equipment are not with DSP on the market at present.
The general intelligence tracking system all adopts panoramic camera+one an intelligent sphere machine to realize, we design a kind of intelligent-tracking method, intelligent algorithm directly move with ARM on, and do not need DSP to realize, simultaneously do not affect other performances of equipment, and this system only needs a PTZ(Pan/Tilt/ZOOM) video camera.Both realize intelligent monitoring, do not increased again cost.
Summary of the invention
For technological deficiency of the prior art, the invention provides and a kind ofly by video camera the image in the picture is carried out the method for intelligent-tracking, it is characterized in that comprise: a. gathers the direction of each macroblock motion vector in a plurality of macro blocks in the image; B. according to the mobile object in the described image of the orientation determination of described motion vector and calculate the pixel size of described mobile object, described mobile object comprises a plurality of macro blocks; C. calculate the centre coordinate of described mobile object as initial point take the center of described picture; D. calculate multiplication factor that described mobile object needs are exaggerated and the angle changing at center, video camera movement visual angle according to the pixel size of described mobile object and described centre coordinate; And e. amplifies described mobile object according to described multiplication factor, and according to described angle changing described mobile object is presented at described picture central authorities.
Preferably, the direction of the motion vector of described macro block is calculated according to following steps: take described picture center as initial point, obtain each macro block at the picture coordinate of former frame and present frame; According to the deflection of the described motion vector of picture coordinate Calculation of each macro block former frame and present frame and determine the direction of described motion vector according to the scope of described deflection; Wherein, the deflection of described motion vector calculates according to following formula: θ=actan (Vector y/Vector x), wherein, θ is the deflection of described motion vector, Vector y is the poor of described macro block former frame and present frame ordinate, and Vector x is the poor of described macro block former frame and present frame abscissa.
Preferably, described step b comprises: the adjacent macroblocks that the first parameter described direction is consistent forms the unit object, and all unit objects are formed described mobile object; And the pixel size of described unit object added up obtain the pixel size of described mobile object.
Preferably, described step a comprises: the direction that gathers each macroblock motion vector in the image of the second parameter frame.
Preferably, described step b comprises: the adjacent macroblocks that the 3rd parameter described direction is consistent and in described the second parameter frame described direction also consistent adjacent macroblocks form the unit object, all unit objects are formed described mobile object; And the pixel size of all unit objects added up obtain the pixel size of described mobile object.
Preferably, described step c comprises: a plurality of macro blocks in the described mobile object are numbered, determine the center macro block at the place, center of described mobile object according to described numbering, and take the coordinate of described picture center described center macro block as initial point obtains.
Preferably, described multiplication factor is calculated according to following steps: judge the wide whether greater than height of described mobile object; If judge the height that is wider than of described mobile object, then calculate described multiplication factor: Z2=W1*Z1/W2 according to following formula; If judge the wide height that is not more than of described mobile object, then calculate described multiplication factor according to following formula: Z2=H1*Z 1/H2, wherein, Z2 is described multiplication factor, and Z1 is current multiplication factor, W1, H1 is the wide and high of picture, and W2, H2 are the wide and high of mobile object.
Preferably, the angle changing at center, described video camera movement visual angle comprises the angle changing of vertical direction and horizontal direction.
Preferably, the angle changing of described video camera movement visual angle central vertical direction calculates according to following steps: calculate the distance that the angle changing of described video camera movement visual angle central vertical direction shines upon at described picture, computing formula is as follows: y1=y+|y+|x|/sin (atan (| x|/(R-|y|))) – R; Calculate the angle changing of described video camera movement visual angle central vertical direction, computing formula is as follows: δ=actan (y1*tan (β)/H 1), wherein, y1 is the distance that the angle changing of described video camera movement visual angle central vertical direction shines upon at described picture, δ is the angle changing of described video camera movement visual angle central vertical direction, x, y is the coordinate of described mobile object, β is half of current described video camera movement vertical angle of view, α is current described center, video camera movement visual angle and vertical direction angle, H1 is the height of described picture, R is that current described video camera movement horizontally rotates formation image path radius, wherein, R=(H1/2) * tan α/tan β.
Preferably, the angle changing of described video camera movement visual angle central horizontal direction calculates according to following steps: calculate the distance that the angle changing of described video camera movement visual angle central horizontal direction shines upon at described picture, computing formula is as follows: x1=x*actan (| x|/(R'-|y|))/sin (atan (| x|/(R'-|y|))); Calculate the angle changing of described video camera movement visual angle central horizontal direction, computing formula is as follows: γ=actan (x1*tan (ε)/(W1/2)), wherein, x1 is the distance that the angle changing of described video camera movement visual angle central horizontal direction shines upon at described picture, γ is the angle changing of described video camera movement visual angle central horizontal direction, x, y is the coordinate of described mobile object, ε is half of horizontal view angle of current described video camera movement, η is current described center, video camera movement visual angle and horizontal direction angle, W1 is the wide of described picture, R' is that described video camera movement vertical rotation forms the image path radius, wherein, the * tan η/tan ε of R '=(H1/2).
The present invention moves the less intelligent-tracking algorithm of amount of calculation by the ARM at video camera, utilize image least unit macro block to analyze, a macro block is the 16*16 pixel, each macro block can be expressed its motion vector, utilize motion vector detection to arrive moving target and the direction of motion thereof, detect moving target after, all the time with this Suitable For Moving-goal Problems to picture central authorities, but and zoom in or out to full frame according to the moving target size and to show, but until moving target exceeds the video camera monitoring range.Video camera is supported double-current function usually, because the image information of double fluid is consistent, and the resolution of secondary flow is lower, and in order to reduce computing and to save system CPU, therefore, we utilize the secondary flow image to analyze.Whole system only needs the logical video camera of a Daepori, does not need additionally to increase auxiliary equipment, also can not affect the video camera hardware performance.The method both applicable SD equipment also is suitable for full HD equipment.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 illustrates according to the first embodiment of the present invention, the image in the picture is carried out the flow chart of the method for intelligent-tracking by video camera;
Fig. 2 illustrates according to a second embodiment of the present invention, the flow chart of identification mobile object;
Fig. 3 illustrates a third embodiment in accordance with the invention, according to the flow chart of caching frame identification mobile object;
Fig. 4 illustrates a fourth embodiment in accordance with the invention, the schematic diagram of the scope of the deflection of macroblock motion vector;
Fig. 5 illustrates according to a fifth embodiment of the invention, the schematic diagram of current video camera movement visual angle central vertical direction;
Fig. 6 illustrates according to a sixth embodiment of the invention, the schematic diagram of the angle changing of video camera movement visual angle central vertical direction; And
Fig. 7 illustrates according to a seventh embodiment of the invention, the schematic diagram that the angle changing of video camera movement visual angle central vertical direction shines upon in picture.
Embodiment
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 illustrates according to the first embodiment of the present invention, the image in the picture is carried out the flow chart of the method for intelligent-tracking by video camera.Particularly, originally illustrating 5 steps, at first is step S101, gathers the direction of each macroblock motion vector in a plurality of macro blocks in the image.The direction of each macroblock motion vector is obtained macro block at the coordinate of former frame and present frame and is further calculated the deflection that obtains macroblock motion vector take former frame as the basis, determines the direction of macroblock motion vector according to the scope of deflection shown in Figure 4.Step S102 is according to the mobile object in the orientation determination image of motion vector and calculate the pixel size of mobile object.Particularly, the identifying of mobile object will also specifically describe shown in Fig. 2 and Fig. 3.Step S103 calculates the centre coordinate of mobile object as initial point take the center of picture.Those skilled in the art understand, preferably, the macro block that mobile object is comprised is numbered, for example, be 1,2 to be numbered n to mobile object bottom right macro block from upper left open numbering, if n is odd number, then will be numbered the macro block of (n+1)/2 as the center macro block of mobile object, if n is even number, then will be numbered n/2 or macro block (n+2)/2 as the center macro block of mobile object; Again for example, comprise the capable and n row macro block of m according to mobile object, and be numbered, be 1-1 from upper left open numbering, 1-2 is numbered m-n to mobile object bottom right macro block, at this moment, according to m, the parity of n is determined the numbering of mobile object center macro block, if m, n is all odd number, then will be numbered the macro block of (m+1)/2-(n+1)/2 as the center macro block of mobile object, if m, n is all even number, then will be numbered m/2-n/2 or macro block (m+2)/2-(n+2)/2 as the center macro block of mobile object, if m, the parity of n is different, also can determine the center macro block by said method, particularly, do not repeat them here.Suboptimum ground it will be appreciated by those skilled in the art that macro blocks all in the described image is numbered, and extracts the numbering of the macro block that mobile object comprises, and carries out further calculative determination center macro block, particularly, does not repeat them here.After determining the center macro block of mobile object, directly obtain the coordinate figure of described center macro block take the picture center as initial point.Execution in step S104 afterwards calculates multiplication factor that described mobile object needs are exaggerated and the angle changing at center, video camera movement visual angle according to the pixel size of described mobile object and described centre coordinate.Described multiplication factor is calculated according to following steps, at first judges the wide whether greater than height of described mobile object; If judge the height that is wider than of described mobile object, the multiplication factor of then amplifying as required is Z2=W1*Z1/W2; If judge the wide height that is not more than of described mobile object, the multiplication factor of then amplifying as required is: Z2=H 1*Z1/H2, and wherein, Z2 is described multiplication factor, and Z1 is current multiplication factor, and W1, H1 are the wide and high of picture, and W2, H2 are the wide and high of mobile object.For example, suppose that resolution is 1080*720 (W1*H1), it is 108*72 (W2*H2) that object takies pixel in the size of this picture, current zoom is 1 times (Z1), will be displayed in full screen so that then to need multiplication factor be (W2)=10, Z2=1080 (W1) * 1 (Z 1)/108.Particularly, the angle changing Computing Principle at center, video camera movement visual angle and image will also specifically describe shown in Fig. 6 and Fig. 7.Last execution in step S105 amplifies described mobile object according to multiplication factor, and it is central according to described angle changing described mobile object to be presented at described picture.
Fig. 2 illustrates according to a second embodiment of the present invention, the flow chart of identification mobile object.Particularly, originally illustrating three steps, at first is step S201, the direction of each macroblock motion vector in the computed image.Step S202, the adjacent macroblocks that the first parameter described direction is consistent forms the unit object, and all unit objects are formed described mobile object.Particularly, those skilled in the art understand, preferably, do the adjacent macroblocks of 3*4 as a whole, namely high is that 3 macro blocks wide are 4 macro blocks, altogether 12 macro blocks are done as a wholely, when the direction of the motion vector of the macro block of this 3*4 is consistent, think that then the adjacent macroblocks of this 3*4 is the part of mobile object.When identifying the adjacent macroblocks of the consistent 3*4 of the direction of all motion vectors, all these macro blocks are formed mobile object.Be step S203 at last, and the pixel size of described unit object added up obtain the pixel size of described mobile object.Particularly, the size that it will be appreciated by those skilled in the art that a macro block is the 16*16 pixel, and then the macro block integral body of a 3*4 just has the 48*64 pixel, if a mobile object comprises that 4*5 macro block is whole, the pixel size of this mobile object is the 192*320 pixel so.Do not repeat them here particularly.
Fig. 3 illustrates a third embodiment in accordance with the invention, according to the flow chart of caching frame identification mobile object.Particularly, originally illustrating three steps, at first is step S301, calculates the direction of each macroblock motion vector in the second parameter frame image.Preferably, buffer memory 3 two field pictures.According to the same tropism of object of which movement, buffer memory three frame data are with Removing Random No.Because the direction of the motion vector of noise between successive frame is irregular, and the direction of the motion vector of mobile object between successive frame has identical rule, if therefore continuous three framerate motion direction vectors consistent think mobile object, its direction is the traffic direction of mobile object.Step S302, with the 3rd parameter described direction consistent and three intraframe motion direction vectors also always adjacent macroblocks form the unit object, and all unit objects are formed described mobile object.Particularly, those skilled in the art understand, preferably, do the macro block of 3*4 as a whole, namely high is that 3 macro blocks wide are 4 macro blocks, altogether 12 macro blocks do as a whole, consistent and when its direction is also consistent in three frames when the direction of the motion vector of the macro block of this 3*4, think that then the macro block of this 3*4 is the part of mobile object.When identifying the macro block of the consistent 3*4 of the direction of all motion vectors, all these macro blocks are formed mobile object.Be step S203 at last, and the pixel size of described unit object added up obtain the pixel size of described mobile object.Particularly, the size that it will be appreciated by those skilled in the art that a macro block is the 16*16 pixel, and then the macro block integral body of a 3*4 just has the 48*64 pixel, if a mobile object comprises that 4*5 macro block is whole, the pixel size of this mobile object is the 192*320 pixel so.Do not repeat them here particularly.
Fig. 4 illustrates a fourth embodiment in accordance with the invention, the schematic diagram of the scope of the deflection of macroblock motion vector.As shown in Figure 4, the present invention is divided into 8 direction right sides, upper right, upper, upper left, left, lower-left, lower, bottom right, respectively 0～7 eight interval of corresponding diagram 1 to the direction of motion of object.Each interval deflection can calculate according to θ=actan (Vector_y/Vector_x).If between π/8 and 15 π/8, illustrate that θ drops on 0 interval, motion vector direction to the right, object is to left movement, the like.Particularly, the deflection of motion vector calculates according to following method.At first take the picture center as initial point, obtain each macro block at the coordinate in picture of former frame and present frame, and according to each macro block former frame and present frame the deflection of the coordinate Calculation motion vector in picture, wherein, the deflection of motion vector calculates according to following formula: θ=actan (Vector_y/Vector_x), wherein, θ is the deflection of described motion vector, Vector_y is the poor of described macro block former frame and present frame ordinate, and Vector_x is the poor of described macro block former frame and present frame abscissa.Further, because the actan value is-pi/2 ~ pi/2 that therefore, θ finally also needs to judge which quadrant according to the x value.Particularly, it will be appreciated by those skilled in the art that a certain macro block of present frame at first will identify the macro block the most similar to this macro block at the coordinate of former frame in the former frame image, obtain the coordinate of this similar macro blocks as the coordinate of this macro block in the former frame image.
Fig. 5 shows the schematic diagram of current video camera vertical direction, and Fig. 6 shows the schematic diagram of the angle changing of video camera movement visual angle central vertical direction, and Fig. 7 shows the schematic diagram that the angle changing of video camera movement visual angle central vertical direction shines upon in picture.In conjunction with Fig. 5, Fig. 6, Fig. 7, preferably, the present invention uses Pan/Tilt/Zoom camera, and calculate vertical operation angle according to the Pan/Tilt/Zoom camera moving law, the central vertical direction of mobile object is moved to central point, as shown in Figure 5, β is vertical angle of view general of movement, α is center, movement visual angle and vertical direction angle, H1 be picture altitude half, R is that movement horizontally rotates and forms the image path radius.Overlook whole picture from the movement angle, picture plane graph such as Fig. 7, H1 and W1 represent respectively half of picture height and width, suppose A(y, x) be the central point of mobile object, A is moved to central point o point overlap, according to the Pan/Tilt/Zoom camera kinetic characteristic, the A actual path is arc, the actual y1 distance of only need to walking of vertical direction get final product, concerns according to trigonometric function, calculates y1=y+|y+|x|/sin (atan (| x|/(R-|y|))) – R, R=H1*tan α/tan β wherein, the A point becomes A1(y1, x1) point, such as Fig. 6, the vertical operation angle of Pan/Tilt/Zoom camera is δ, δ=atan(y1*tan(β)/H1).Similarly, the calculated level operation angle: the level run direction is actual to be arc, range ability is x1, x1=x*atan (| x|/(R-|y|))/sin (atan (| x|/(R-|y|))), R=H1*tan α/tan β wherein, the angle that the same calculated level changes is δ, δ=atan(x1*tan(β)/W1), wherein β be movement present level visual angle half.
The present invention preferably uses Pan/Tilt/Zoom camera, and Pan/Tilt/Zoom camera is all supported double-current function, because the image information of double fluid is consistent, and the resolution of secondary flow is lower, and in order to reduce computing and to save system CPU, therefore, the present invention utilizes the secondary flow image to analyze.The image least unit is macro block, a macro block is the 16*16 pixel, each macro block can be expressed its motion vector, utilize motion vector detection to arrive moving target and the direction of motion thereof, after detecting moving target, all the time with this Suitable For Moving-goal Problems to picture central authorities, but and zoom in or out to full frame according to the moving target size and to show, but until moving target exceeds the Pan/Tilt/Zoom camera monitoring range.Whole system only needs the logical Pan/Tilt/Zoom camera of a Daepori, does not need additionally to increase auxiliary equipment, also can not affect the Pan/Tilt/Zoom camera hardware performance.The method both applicable SD equipment also is suitable for full HD equipment.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. one kind is carried out the method for intelligent-tracking by video camera to the image in the picture, it is characterized in that, comprising:
A. gather the direction of each macroblock motion vector in a plurality of macro blocks in the image;
B. according to the mobile object in the described image of the orientation determination of described motion vector and calculate the pixel size of described mobile object, described mobile object comprises a plurality of macro blocks;
C. calculate the centre coordinate of described mobile object as initial point take the center of described picture;
D. calculate multiplication factor that described mobile object needs are exaggerated and the angle changing at center, video camera movement visual angle according to the pixel size of described mobile object and described centre coordinate; And
E. amplify described mobile object according to described multiplication factor, and it is central according to described angle changing described mobile object to be presented at described picture.
2. method according to claim 1 is characterized in that, the direction of the motion vector of described macro block is calculated according to following steps:
Take described picture center as initial point, obtain each macro block at the picture coordinate of former frame and present frame;
According to the deflection of the described motion vector of picture coordinate Calculation of each macro block former frame and present frame and determine the direction of described motion vector according to the scope of described deflection;
Wherein, the deflection of described motion vector calculates according to following formula:
θ=actan(Vector_y/Vector_x)，
Wherein, θ is the deflection of described motion vector, and Vector_y is the poor of described macro block former frame and present frame ordinate, and Vector_x is the poor of described macro block former frame and present frame abscissa.
3. method according to claim 1 is characterized in that, described step b comprises:
The adjacent macroblocks that the first parameter described direction is consistent forms the unit object, and all unit objects are formed described mobile object; And
The pixel size of described unit object added up obtain the pixel size of described mobile object.
4. method according to claim 1 is characterized in that, described step a comprises:
Gather the direction of each macroblock motion vector in the image of the second parameter frame.
5. method according to claim 4 is characterized in that, described step b comprises:
The adjacent macroblocks that the 3rd parameter described direction is consistent and in described the second parameter frame described direction also consistent adjacent macroblocks form the unit object, all unit objects are formed described mobile object; And
The pixel size of all unit objects added up obtain the pixel size of described mobile object.
6. method according to claim 1 is characterized in that, described step c comprises:
A plurality of macro blocks in the described mobile object are numbered, determine the center macro block at the place, center of described mobile object according to described numbering, and take the coordinate of described picture center described center macro block as initial point obtains.
7. method according to claim 1 is characterized in that, described multiplication factor is calculated according to following steps:
Judge the wide whether greater than height of described mobile object;
If judge the height that is wider than of described mobile object, then calculate described multiplication factor according to following formula:
Z2=W1*Z1/W2；
If judge the wide height that is not more than of described mobile object, then calculate described multiplication factor according to following formula:
Z2=H1*Z1/H2，
Wherein, Z2 is described multiplication factor, and Z1 is current multiplication factor, and W1, H1 are the wide and high of picture, and W2, H2 are the wide and high of mobile object.
8. method according to claim 1 is characterized in that, the angle changing at center, described video camera movement visual angle comprises the angle changing of vertical direction and horizontal direction.
9. method according to claim 8 is characterized in that, the angle changing of described video camera movement visual angle central vertical direction calculates according to following steps:
Calculate the distance that the angle changing of described video camera movement visual angle central vertical direction shines upon at described picture, computing formula is as follows:
y1＝y+|y|+|x|/sin(atan(|x|/(R-|y|)))-R；
Calculate the angle changing of described video camera movement visual angle central vertical direction, computing formula is as follows:
δ=actan(y1*tan(β)/H?1)，
Wherein, y1 is the distance that the angle changing of described video camera movement visual angle central vertical direction shines upon at described picture, δ is the angle changing of described video camera movement visual angle central vertical direction, x, y is the coordinate of described mobile object, β is half of current described video camera movement vertical angle of view, α is current described center, video camera movement visual angle and vertical direction angle, H1 is the height of described picture, R is that current described video camera movement horizontally rotates formation image path radius, wherein, R=(H1/2) * tan α/tan β.
10. method according to claim 9 is characterized in that, the angle changing of described video camera movement visual angle central horizontal direction calculates according to following steps:
Calculate the distance that the angle changing of described video camera movement visual angle central horizontal direction shines upon at described picture, computing formula is as follows:
x1=x*actan(|x|/(R'-|y|))/sin(atan(|x|/(R'-|y|)))；
Calculate the angle changing of described video camera movement visual angle central horizontal direction, computing formula is as follows:
γ=actan(x1*tan(ε)/(W1/2))，
Wherein, x1 is the distance that the angle changing of described video camera movement visual angle central horizontal direction shines upon at described picture, γ is the angle changing of described video camera movement visual angle central horizontal direction, x, y is the coordinate of described mobile object, ε is half of horizontal view angle of current described video camera movement, η is current described center, video camera movement visual angle and horizontal direction angle, W1 is the wide of described picture, R' is that described video camera movement vertical rotation forms the image path radius, wherein, the * tan η/tan ε of R '=(H1/2).
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| CN104699120A (en) * | 2015-02-10 | 2015-06-10 | 银江股份有限公司 | Cloud desk operation method and system for cross-domain video cascading system |
| CN105335977A (en) * | 2015-10-28 | 2016-02-17 | 苏州科达科技股份有限公司 | Image pickup system and positioning method of target object |
| CN105335977B (en) * | 2015-10-28 | 2018-05-25 | 苏州科达科技股份有限公司 | The localization method of camera system and target object |
| CN106648360A (en) * | 2016-11-30 | 2017-05-10 | 深圳市泛海三江科技发展有限公司 | Locating method and device for 3D ball machine |
| CN106648360B (en) * | 2016-11-30 | 2020-11-17 | 深圳市泛海三江科技发展有限公司 | Positioning method and device of 3D ball machine |
| CN107050859A (en) * | 2017-04-07 | 2017-08-18 | 福州智永信息科技有限公司 | A kind of method of dragging camera based on unity3D displacement in the scene |
| CN107050859B (en) * | 2017-04-07 | 2020-10-27 | 福州智永信息科技有限公司 | Unity 3D-based method for dragging camera to displace in scene |
| CN109840059A (en) * | 2019-01-29 | 2019-06-04 | 北京字节跳动网络技术有限公司 | Method and apparatus for displaying images |
| CN109840059B (en) * | 2019-01-29 | 2020-05-15 | 北京字节跳动网络技术有限公司 | Method and apparatus for displaying image |
| CN110047097A (en) * | 2019-03-27 | 2019-07-23 | 深圳职业技术学院 | A kind of target Continuous tracking of multiple-camera collaboration |
| CN110248158A (en) * | 2019-06-06 | 2019-09-17 | 上海秒针网络科技有限公司 | The method of adjustment and device of shooting visual angle |
| CN111800576A (en) * | 2020-07-01 | 2020-10-20 | 河北中创广电科技有限公司 | Method and device for rapidly positioning picture shot by pan-tilt camera |
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